Programming by Demonstration Using the Teleimpedance Control Scheme: Verification by an sEMG-Controlled Ball-Trapping Robot.

Impedance control allows robots to manipulate physical interactions delicately. However, issues associated with path planning and impedance remain unresolved. Herein we propose a path and impedance planning method for impedance control in a robot based on programming by demonstration through telemanipulation using a surface electromyogram. We considered a task that requires quick and precise adjus...